Expand description
Utility functions for multi-target tracking
Component pruning, merging, and state extraction utilities.
Structs§
- Extraction
Config - Configuration for state extraction.
- Pruning
Config - Configuration for pruning and merging operations.
- Target
Estimate - A target state estimate with associated uncertainty.
Enums§
- Extraction
Method - Extraction method for converting mixtures to point estimates.
Functions§
- cap_
total_ weight - Caps the total weight at a maximum value.
- estimate_
cardinality - Estimates the number of targets from a mixture.
- extract_
by_ threshold - Extracts components with weight above threshold.
- extract_
local_ maxima - Extracts local maxima (components that are not close to higher-weighted components).
- extract_
local_ maxima_ with_ dist - Extracts local maxima with a configurable merge distance.
- extract_
targets - Extracts target estimates from a Gaussian mixture.
- extract_
top_ n - Extracts the N highest-weighted components.
- mahalanobis_
distance_ squared - Computes the squared Mahalanobis distance between two Gaussian components.
- merge_
components - Merges two Gaussian components into one.
- merge_
nearby - Merges nearby components based on Mahalanobis distance.
- mixture_
covariance - Computes the spread (covariance) of the mixture.
- mixture_
mean - Computes the mean state from a mixture (treating all components equally).
- normalize_
weights - Normalizes component weights to sum to a target value.
- prune_
and_ merge - Applies full pruning pipeline: weight threshold, merge, truncate.
- prune_
by_ weight - Prunes components with weight below a threshold.
- truncate
- Truncates the mixture to keep only the top N components by weight.